Shore power ship wireless charging optimization method, device, medium and wireless charging system based on particle swarm algorithm

Abstract

The application discloses a shore power ship wireless charging optimization method and device based on a particle swarm algorithm, a storage medium and a wireless charging system. The method comprises the following steps: acquiring wireless charging device parameter data and relative position data of a receiving coil and a transmitting coil; based on a pre-determined wireless charging system mathematical model, using a particle swarm algorithm, taking a transmission distance, a resonance frequency and a load resistance value as parameter variables to be optimized in particles, taking a system transmission efficiency as an individual fitness of the particles, performing optimization calculation, and obtaining an optimal value combination of the transmission distance, the resonance frequency and the load resistance value which makes the system transmission efficiency maximum; and determining an optimal position of the transmitting coil and / or the receiving coil, an optimal tuning capacitance of a transmitting resonator and a receiving resonator, and an optimal load resistance value on a side of a ship to be charged according to the optimal value combination. The application can match optimal system parameters and optimize transmission efficiency when the coil is deviated due to a ship parking deviation or water body action.

Description

Technical Field

[0001] This invention relates to the field of ship charging technology, and in particular to an optimization method, device, medium, and wireless charging system for shore power ships based on particle swarm optimization algorithm. Background Technology

[0002] In existing wireless charging technologies for ships, a single charging coil is typically fixedly installed on a dockside charging station. The receiving coil on the ship must be precisely positioned so that it is directly aligned with the charging coil on the charging station before charging can begin. During the entire charging process, due to the combined effects of wind, waves, and draft, as well as the ship's response to the resulting changes in tilt and draft, misalignment can occur between the receiving and charging coils, significantly reducing wireless charging efficiency.

[0003] How to reduce the impact of the above factors on the charging process so that the wireless power transmission system can always work at its best is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a method, device, medium, and wireless charging system for shore power vessels based on particle swarm optimization, which can match optimal system parameters and optimize transmission efficiency when the coil is offset due to vessel positioning deviation or water action. The technical solution adopted by this invention is as follows.

[0005] On one hand, the present invention provides an optimized method for shore power ship wireless charging, comprising:

[0006] Based on the obtained wireless charging device parameter data and the relative position data of the receiving coil and the transmitting coil, and based on the predetermined wireless charging system mathematical model, the particle swarm optimization algorithm is used to optimize the transmission distance, resonant frequency and load resistance as parameters to be optimized in the particles, and the system transmission efficiency as the fitness of the individual particles. The optimal combination of transmission distance, resonant frequency and load resistance values ​​that maximizes the system transmission efficiency is obtained.

[0007] Based on the transmission distance, resonant frequency, and load resistance in the optimal combination of values, determine the optimal positions of the transmitting coil and / or receiving coil, the optimal tuning capacitors of the transmitting resonator and receiving resonator, and the optimal load resistance on the side of the ship to be charged.

[0008] Based on the above technical solution, the wireless charging system can be optimized by adjusting the determined optimized coil position, optimized tuning capacitor and optimized load resistance value. This eliminates the need to strictly limit the hull's docking position, and the method can adapt to the dynamic optimization and adjustment of relevant parameters as the hull moves with the water, ensuring that the wireless charging system always maintains high power transmission efficiency.

[0009] Optionally, the parameters of the wireless charging device include: the self-inductance L1 and tuning capacitor C1 of the transmitting resonator, the self-inductance L2 and tuning capacitor C2 of the receiving resonator, and the number of turns N1 and N2 of the transmitting coil and the receiving coil.

[0010] The relative position data includes the radius r1 of the transmitting coil, the radius r2 of the receiving coil, and the offset angle of the receiving coil along the Z-axis, determined according to a preset coordinate system. The X-axis offset distance d' of the center of the receiving coil, the Z-axis offset distance h' of the plane of the receiving coil, and the vertical distance h between the centers of the two coils;

[0011] The preset coordinate system uses the center of the transmitting coil as the origin and the plane where the transmitting coil is located as the XOY plane. In the unoffset state, the transmitting coil and the receiving coil are parallel to each other, and the Z-axis projection of the receiving coil coincides with that of the transmitting coil.

[0012] In the above scheme, the acquisition of relative position data provides a data foundation for the optimization and adjustment of the charging system. When applied, optimization calculations can be performed based on the actual location of the ship to be charged, so that the optimization results can be applied to the current location of the ship to achieve the optimization of charging efficiency.

[0013] Optionally, the predetermined mathematical model of the wireless charging system includes:

[0014] The circuit equation for a wireless charging system is expressed as follows:

[0015]

[0016] in, The excitation voltage; and These are the currents in the transmitting and receiving resonator circuits, respectively; R l R1 and R2 are the internal resistances of the transmitting resonator and the receiving resonator, respectively; R2 and R3 are the internal resistances of the transmitting resonator and the receiving resonator, respectively. S R is the internal resistance of the power supply; L ω is the load resistance; M is the resonant frequency of the transmitting and receiving resonators; j represents the mutual inductance between the transmitting and receiving resonators; ω is the resonant frequency of the transmitting and receiving resonators.

[0017] The resonant frequencies of the transmitting and receiving resonators are expressed as:

[0018]

[0019] The mutual inductance between the transmitting and receiving resonators when the coil is not offset is expressed as:

[0020]

[0021] In the formula, d represents the transmission distance, which is the distance between the centers of the transmitting coil and the receiving coil; μ0 is a constant coefficient, which can be taken as μ0 = 4π × 10 -7 ;

[0022] The mutual inductance between the transmitting and receiving resonators under coil offset conditions is expressed as:

[0023]

[0024] In the formula, θ represents the angle between the radius r1 of the transmitting coil and the X-axis in the preset coordinate system; and These represent the vectors representing the radius r1 of the transmitting coil and the radius r2 of the receiving coil in the preset coordinate system, respectively.

[0025] The coil coupling coefficient is expressed as:

[0026] Transmission efficiency is expressed as:

[0027] In the formula, P in For input power, P out The output power is ω′, the actual resonant frequency is M, and the actual mutual inductance is M.

[0028] The construction of the above mathematical model describes the correlation between the key parameters of the system, providing a basis for system optimization.

[0029] Optionally, the step of using the particle swarm optimization algorithm, with transmission distance, resonant frequency, and load resistance as parameters to be optimized in the particles, and system transmission efficiency as the fitness, includes the following optimization calculations:

[0030] Initialize the particles and their parameter variables, where the i-th particle is represented as...

[0031] Store the information of each particle before the update at its optimal position P. best Then, among all the particles, the P of the best particle... best The corresponding information is stored in the globally optimal location G. best middle;

[0032] The particle's velocity and position are updated according to the preset velocity update formula and position update formula:

[0033] Transmission efficiency is used as the fitness of an individual to evaluate particles in the swarm and to iteratively update the optimal position P of an individual. best and the global optimal position G bestThe process continues until the preset iteration termination condition is met. The information of the particle at the current global optimal position is output, and the combination of parameter variables in the particle is used as the optimal combination of transmission distance, resonant frequency and load resistance.

[0034] Optionally, the preset velocity update formula and position update formula are:

[0035]

[0036] x i,j (t+1)=x i,j (t)+ν i,j (t+1)

[0037] In the formula, ν i,j (t) and ν i,j (t+1) represent the velocities of particle i's j-th dimension vector before and after the update, respectively. i,j (t) and x i,j (t+1) represent the positions of the j-th dimension vector of particle i before and after the update, respectively; p i,j p represents the best position that particle i has ever reached. g,j c1 and c2 represent the best position the population has ever experienced; r1 and r2 represent two acceleration constants; r1 and r2 represent two random functions with values ​​ranging from [0,1]. Let represent the inertia factor, and we have:

[0038]

[0039] Where ω0 represents the initial inertia weight, g max This represents the maximum value of the current fitness function; g min This represents the minimum value of the current fitness function; g av represents the average value of the fitness function of all particles, α represents the coefficient of the inertia factor, and its value ranges from [0.4, 2]; n c This indicates the number of particles, i.e., the size of the particle swarm.

[0040] Optionally, when the method of the present invention uses the particle swarm optimization algorithm for optimization calculation, the constraints considered include: the position variation range of the transmitting coil, the variable range of the tuning capacitors of the transmitting resonator and the receiving resonator, and the preset variable range of the load resistance value. The particle swarm optimization algorithm performs optimization within the specified range so that the optimization calculation result can adapt to the actual charging system scenario. To accommodate subsequent adjustments, the aforementioned position variation range of the transmitting coil includes the transmission direction movement range of the transmitting coil center and the offset angle range of the transmitting coil plane.

[0041] Optionally, determining the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitors of the transmitting and receiving resonators, and the optimal load resistance value on the ship side to be charged, based on the transmission distance, resonant frequency, and load in the optimal combination of values, includes:

[0042] Based on the transmission distance in the optimal combination of values, determine the position adjustment amount of the center of the transmitting coil and / or the centerline of the receiving coil in the direction of transmission distance;

[0043] Based on the resonant frequency in the optimal combination of values, determine the optimal tuning capacitors for the transmitting and receiving resonators;

[0044] Based on the load resistance values ​​in the optimal combination of values, the optimal load resistance value on the side of the ship to be charged is determined.

[0045] In the above technical solution, the transmission distance, i.e., the distance between the center of the transmitting coil and the center of the receiving coil, can be achieved by adjusting the position of the transmitting coil or the receiving coil individually, or by adjusting the distance between their centers simultaneously. Adjusting the transmission distance will affect the mutual inductance coefficient, thereby optimizing the transmission efficiency. It is sufficient that the installation and position control of the transmitting coil or the receiving coil can support the corresponding adjustment requirements.

[0046] Furthermore, the adjustment of the position of the transmitting coil, the tuning capacitors of the transmitting and receiving resonators, and the load resistance on the ship side to be charged, based on the optimal combination of transmission distance, resonant frequency, and load resistance, also includes:

[0047] Based on the resonant frequency in the optimal combination of values, determine the optimal offset angle of the transmitting coil and / or receiving coil.

[0048] In a resonant coupling system, increased coupling between the transmitting and receiving coils can lead to multiple resonant frequencies. As the distance between the transmitting and receiving coils increases (coupling strength increases), the received power on the load side no longer appears at the natural resonant frequency. The above solution alters the rotation angle between the two coils by changing the coil offset angle, thus allowing the system to exit the frequency splitting region.

[0049] In a second aspect, the present invention provides a shore power ship wireless charging optimization device, comprising:

[0050] The optimization calculation module is configured to perform optimization calculations based on the acquired wireless charging device parameter data and the relative position data of the receiving coil and the transmitting coil, using a pre-determined mathematical model of the wireless charging system and a particle swarm optimization algorithm. The calculations take the transmission distance, resonant frequency, and load resistance as the parameter variables to be optimized in the particles, and the system transmission efficiency as the fitness of the individual particles, to obtain the optimal combination of transmission distance, resonant frequency, and load resistance that maximizes the system transmission efficiency.

[0051] The charging system adjustment module is configured to determine the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitor of the transmitting resonator and receiving resonator, and the optimal load resistance value on the side of the ship to be charged, based on the transmission distance, resonant frequency, and load resistance value in the optimal combination of values.

[0052] Optionally, the optimization calculation module is specifically used for:

[0053] Initialize the particles and their parameter variables, where the i-th particle is represented as... Where: d represents the transmission distance, w′ represents the resonant frequency of the transmitting resonator and the receiving resonator, and R L Indicates the load resistance value;

[0054] Store the information of each particle before the update at its optimal position P. best Then, among all the particles, the P of the best particle... best The corresponding information is stored in the globally optimal location G. best middle;

[0055] The particle's velocity and position are updated according to the preset velocity update formula and position update formula:

[0056] Transmission efficiency is used as the fitness of an individual to evaluate particles in the swarm and to iteratively update the optimal position P of an individual. best and the global optimal position G best The process continues until the preset iteration termination condition is met. The information of the particle at the current global optimal position is output, and the combination of parameter variables in the particle is used as the optimal combination of transmission distance, resonant frequency and load resistance.

[0057] Optionally, the charging system adjustment module is specifically used for:

[0058] Based on the transmission distance in the optimal combination of values, determine the position adjustment amount of the center of the transmitting coil and / or the centerline of the receiving coil in the direction of transmission distance;

[0059] Based on the resonant frequency in the optimal combination of values, determine the optimal tuning capacitors for the transmitting and receiving resonators, as well as the optimal offset angles for the transmitting and / or receiving coils;

[0060] Based on the load resistance values ​​in the optimal combination of values, the optimal load resistance value on the side of the ship to be charged is determined.

[0061] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the shore power ship wireless charging optimization method as described in the first aspect.

[0062] Fourthly, the present invention provides a shore power ship wireless charging system, comprising a wireless charging device, an optimization control device located on the shore power side, and a charging control device located on the ship to be charged side; the wireless charging device includes a transmitting resonator and a receiving resonator respectively installed on the shore power side and the ship to be charged side, the transmitting resonator including a transmitting end tuning capacitor and a transmitting coil, and the receiving resonator including a receiving end tuning capacitor, a receiving coil, and a variable load resistor; the optimization control device is communicatively connected to the charging control device;

[0063] The optimization control device is configured to:

[0064] Acquire parameter data of the wireless charging device and the relative position data of the receiving coil and the transmitting coil;

[0065] Based on the acquired data and a predetermined mathematical model of the wireless charging system, the particle swarm optimization algorithm is used to optimize the transmission distance, resonant frequency, and load resistance as parameters to be optimized in the particles, and the system transmission efficiency as the fitness of individual particles. The optimal combination of transmission distance, resonant frequency, and load resistance that maximizes the system transmission efficiency is obtained.

[0066] Based on the transmission distance, resonant frequency, and load resistance value in the optimal combination of values, determine the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitor of the transmitting resonator and receiving resonator, and the optimized variable load resistance value on the side of the ship to be charged.

[0067] Based on the determined optimal position of the transmitting coil and the optimal tuning capacitor of the transmitting resonator, the position of the transmitting coil and the tuning capacitor of the transmitting resonator are adjusted accordingly.

[0068] In addition, the determined optimized position of the receiving coil, the optimized tuning capacitor of the receiving resonator, and the optimized variable load resistor value on the side of the ship to be charged are sent to the charging control device.

[0069] The charging control device is configured to: adjust the position of the receiving coil, the tuning capacitor of the receiving resonator, and the variable load resistor on the side of the ship to be charged according to the received optimized position of the receiving coil, the optimized tuning capacitor of the receiving resonator, and the optimized variable load resistor value on the side of the ship to be charged.

[0070] Optionally, the optimization control device is further configured to: determine the optimized offset angle of the transmitting coil and / or receiving coil based on the resonant frequency in the optimal combination of values;

[0071] Based on the determined optimal offset angle of the transmitting coil, the offset angle of the transmitting coil is adjusted accordingly.

[0072] In addition, the determined optimized offset angle of the receiving coil is sent to the charging control device.

[0073] Optionally, the shore power ship wireless charging system also includes a transmitting coil position adjustment mechanism located on the shore power side. The transmitting coil is movably mounted on the transmitting resonator, and the optimization control device adjusts the position and offset angle of the transmitting coil through the transmitting coil position adjustment mechanism.

[0074] Optionally, the shore power ship wireless charging system also includes a receiving coil position adjustment mechanism located on the side of the ship to be charged. The receiving coil is movably mounted on the receiving resonator, and the charging control module adjusts the position and offset angle of the receiving coil through the receiving coil position adjustment mechanism.

[0075] Optionally, the shore power ship wireless charging system also includes a transmitting coil current sensor located on the shore power side;

[0076] The optimization control device is configured to: acquire the transmitting coil current data collected by the transmitting coil current sensor, and turn on or off the power output of the transmitting resonator according to the transmitting coil current data;

[0077] The step of turning the power output of the transmitting resonator on or off based on the transmitting coil current data includes:

[0078] If the current in the transmitting coil is greater than or equal to the preset charging stop current threshold, the power output of the transmitting resonator will be turned off.

[0079] If the current in the transmitting coil is greater than 0 and less than the preset charging current threshold, the power output of the transmitting resonator will be turned on.

[0080] In the above technical solution, the charging stop current threshold is determined based on the transmitting coil current when the ship is fully charged, and the charging current threshold is determined based on the transmitting coil current when the transmitting coil is coupled to the receiving coil but not charging. When the transmitting resonator is not shut off power transmission and no ship is docked, and when the ship is fully charged, the current in the transmitting coil is relatively large. However, when the receiving coil has just coupled to the transmitting coil and is not charging, the current in the transmitting coil is relatively small. Therefore, the automatic control of the power transmission function of the wireless charging device on or off can be achieved on the shore power side based on the magnitude of the transmitting coil current.

[0081] Beneficial effects

[0082] The shore power ship wireless charging optimization method of the present invention is aimed at improving the wireless power transmission efficiency in magnetic coupling resonant wireless charging scenarios. It optimizes the matching problem of multiple parameters affecting the system transmission efficiency through particle swarm optimization algorithm, finds a set of optimal parameter matching values, and then automatically adjusts the coil position, offset angle, tuning capacitor, load resistance and other parameters related to the shore power ship wireless charging system according to the optimization solution results. This is to adapt to the situation where there is a deviation in the ship's parking position and fluctuations within a certain range during the charging process, so as to achieve the purpose of improving the power transmission efficiency.

[0083] The shore power ship wireless charging system of the present invention proposes a hardware architecture that can support the adaptive adjustment of charging system parameters according to the ship's berthing position, thereby ensuring an effective improvement in power transmission efficiency. Attached Figure Description

[0084] Figure 1 The diagram shown is an equivalent circuit diagram of a magnetically coupled resonant wireless charging system.

[0085] Figure 2 The diagram shown is a functional architecture diagram of a wireless charging system.

[0086] Figure 3 The diagram shows the current of the transmitting coil under different conditions.

[0087] Figure 4 The diagram shown is a schematic diagram of the parameter calibration of a wireless charging device.

[0088] Figure 5 The diagram shows a flowchart of the shore power ship wireless charging optimization method based on particle swarm optimization algorithm of the present invention.

[0089] Figure 6 The diagram shown is a schematic diagram of the particle swarm optimization algorithm in one embodiment of the present invention. Detailed Implementation

[0090] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details.

[0091] The technical concept of this invention is as follows: Considering that the docking position of shore-powered ships may have certain deviations, and that the ships may fluctuate with the water during charging, causing relative offset between the transmitting and receiving coils, a wireless charging optimization method is designed to adapt to changes in the position of the ship to be charged. This method uses a particle swarm optimization algorithm to optimize the matching of multiple parameters affecting the system's transmission efficiency, finding a set of optimal parameter matching values. Then, based on the optimization solution, the coil positions, tuning capacitors, load resistance, and other parameters related to the shore-powered ship wireless charging system are automatically adjusted, ensuring that the wireless charging system always maintains high power transmission efficiency.

[0092] Example 1

[0093] This embodiment introduces an optimized method for shore power ship wireless charging, including:

[0094] Based on the obtained wireless charging device parameter data and the relative position data of the receiving coil and the transmitting coil, and based on the predetermined wireless charging system mathematical model, the particle swarm optimization algorithm is used to optimize the transmission distance, resonant frequency and load resistance as parameters to be optimized in the particles, and the system transmission efficiency as the fitness of the individual particles. The optimal combination of transmission distance, resonant frequency and load resistance values ​​that maximizes the system transmission efficiency is obtained.

[0095] Based on the transmission distance, resonant frequency, and load resistance in the optimal combination of values, determine the optimal positions of the transmitting coil and / or receiving coil, the optimal tuning capacitors of the transmitting resonator and receiving resonator, and the optimal load resistance on the side of the ship to be charged.

[0096] Based on the above process, the wireless charging system can be optimized by adjusting the determined optimized coil position, optimized tuning capacitor and optimized load resistance. This will achieve the optimization of the shore power ship wireless charging system without strictly limiting the ship's docking position. Moreover, the method can adapt to the dynamic optimization and adjustment of relevant parameters as the ship moves with the water, so that the wireless charging system always maintains a high power transmission efficiency.

[0097] For a detailed implementation of this embodiment, please refer to... Figure 5 This includes the following content.

[0098] 1. Obtain parameter data of the wireless charging device and the relative position data of the receiving coil and transmitting coil.

[0099] The wireless charging device parameters to be obtained include: the self-inductance L1 and tuning capacitor C1 of the transmitting resonator, the self-inductance L2 and tuning capacitor C2 of the receiving resonator, and the number of turns N1 and N2 of the transmitting coil and the receiving coil.

[0100] refer to Figure 4The diagram illustrates the relative offset between the coils. The relative position data of the receiving and transmitting coils includes the radius r1 of the transmitting coil, the radius r2 of the receiving coil, and the offset angle of the receiving coil along the Z-axis, determined according to a preset coordinate system. The X-axis offset distance d' of the receiving coil center, the Z-axis offset distance h' of the receiving coil plane, and the vertical distance h between the centers of the two coils. Figure 4 The preset coordinate system uses the center of the transmitting coil as the origin and the plane containing the transmitting coil as the XOY plane. In the unoffset state, the transmitting coil and the receiving coil are parallel to each other, and the Z-axis projection of the receiving coil coincides with that of the transmitting coil.

[0101] The acquisition of the above relative position data is used to provide a data foundation for the optimization and adjustment of the charging system. When applied, optimization calculations can be performed based on the actual location of the ship to be charged, so that the optimization results can be applied to the current location of the ship to achieve the optimization of charging efficiency.

[0102] II. Particle Swarm Optimization: Obtaining the optimal combination of transmission distance, resonant frequency, and load resistance that maximizes system transmission efficiency.

[0103] In this section, this embodiment uses a particle swarm optimization algorithm based on a pre-determined mathematical model of the wireless charging system, wherein, referring to Figure 1 and Figure 2 The predetermined mathematical model of the wireless charging system includes:

[0104] The circuit equation for a wireless charging system is expressed as follows:

[0105]

[0106] in, The excitation voltage; and These are the currents in the transmitting and receiving resonator circuits, respectively; R l R1 and R2 are the internal resistances of the transmitting resonator and the receiving resonator, respectively; R2 and R3 are the internal resistances of the transmitting resonator and the receiving resonator, respectively. S R is the internal resistance of the power supply; L ω is the load resistance; M is the resonant frequency of the transmitting and receiving resonators; j represents the mutual inductance between the transmitting and receiving resonators; ω is the resonant frequency of the transmitting and receiving resonators; j represents the imaginary number.

[0107] The resonant frequencies of the transmitting and receiving resonators are expressed as:

[0108]

[0109] The mutual inductance between the transmitting and receiving resonators when the coil is not offset is expressed as:

[0110]

[0111] In the formula, d represents the transmission distance, which is the distance between the centers of the transmitting coil and the receiving coil; μ0 is a constant coefficient, which can be taken as μ0 = 4π × 10 -7 ;

[0112] The mutual inductance between the transmitting and receiving resonators under coil offset conditions is expressed as:

[0113]

[0114] In the formula, θ represents the angle between the radius r1 of the transmitting coil and the X-axis in the preset coordinate system; and These represent the vectors representing the radius r1 of the transmitting coil and the radius r2 of the receiving coil in the preset coordinate system, respectively.

[0115] The coil coupling coefficient is expressed as:

[0116] Transmission efficiency is expressed as:

[0117] In the formula, P in For input power, P out The output power is ω′, the actual resonant frequency is M, and the actual mutual inductance is M.

[0118] The mathematical model described above depicts the correlation between key system parameters. It can be seen that the transmission efficiency of the wireless power transmission system is related to the real-time resonant frequency, mutual inductance, and load resistance, while the mutual inductance is related to the relative rotation angle between the two coils and the transmission distance. Therefore, adjusting the relative position between the two coils (including the transmission distance and rotation angle), the load resistance, and the resonator tuning capacitor will change the system transmission efficiency.

[0119] In this embodiment, during dynamic optimization, a particle swarm optimization algorithm is used. The transmission distance, resonant frequency, and load resistance are treated as parameters to be optimized within the particles, while the system transmission efficiency is used as the fitness metric for optimization calculations. This process references... Figure 6 As shown, it specifically includes:

[0120] Initialize the particles and their parameter variables, including: setting the particle swarm size, particle dimension, and maximum number of iterations; setting the range and initial values ​​of particle position and velocity; at this point, the i-th particle is represented as... The constraints considered in setting the particle position range include: the position variation range of the transmitting coil, the variable range of the tuning capacitors of the transmitting and receiving resonators, and the preset variable range of the load resistance. The particle swarm optimization algorithm performs optimization within the specified range so that the optimization results can adapt to the actual charging system scenario. To accommodate subsequent adjustments, the aforementioned position variation range of the transmitting coil includes the range of movement of the transmission direction of the transmitting coil center and the range of the offset angle of the transmitting coil plane;

[0121] Initialize particle positions: Calculate the particle fitness value Max(f), find the optimal fitness value (i.e., the optimal position) for both the individual particle and the population, and store the information of each particle in its optimal position P. best In the middle, the P of the best particle among all particles best The corresponding information is stored in the globally optimal location G. best middle;

[0122] Iterative Update: The velocity and position of the particles are updated according to preset velocity update formulas and position update formulas, whereby the preset velocity update formulas and position update formulas are:

[0123]

[0124] x i,j (t+1)=x i,j (t)+ν i,j (t+1)

[0125] In the formula, ν i,j (t) and ν i,j (t+1) represent the velocities of particle i's j-th dimension vector before and after the update, respectively. i,j (t) and x i,j (t+1) represent the positions of the j-th dimension vector of particle i before and after the update, respectively; p i,j p represents the best position that particle i has ever reached. g,j c1 and c2 represent the best position the population has ever experienced; r1 and r2 represent two acceleration constants; r1 and r2 represent two random functions with values ​​ranging from [0,1]. Let represent the inertia factor, and we have:

[0126]

[0127] Where ω0 represents the initial inertia weight, g max This represents the maximum value of the current fitness function; g min This represents the minimum value of the current fitness function; g av represents the average value of the fitness function of all particles, α represents the coefficient of the inertia factor, and its value ranges from [0.4, 2]; n cThis indicates the number of particles, i.e., the size of the particle swarm.

[0128] During iterative updates, transmission efficiency is used as the fitness of an individual to evaluate particles in the swarm, and the optimal position P of an individual is iteratively updated. best and the global optimal position G best The iteration continues until a preset termination condition, such as the maximum number of iterations, is met. Then, the iteration is terminated, and the particle information at the global optimal position is output. The combination of parameter variables in this particle is used as the optimal combination of transmission distance, resonant frequency, and load resistance.

[0129] Since the particle swarm optimization algorithm is based on the parameters of the wireless charging system collected in real time, the optimization result is the combination of parameter variables that maximizes the system's transmission efficiency under the current relative position of the transmitting coil and the receiving coil.

[0130] 3. Based on the aforementioned optimal combination of values, determine: the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitors of the transmitting and receiving resonators, and the optimal load resistance on the side of the ship to be charged.

[0131] This part of the embodiment is specifically implemented as follows: based on the transmission distance in the optimal value combination, determine the position adjustment amount of the center of the transmitting coil and / or the centerline of the receiving coil in the transmission distance direction;

[0132] Based on the resonant frequency in the optimal combination of values, determine the optimal tuning capacitors for the transmitting and receiving resonators;

[0133] Based on the load resistance values ​​in the optimal combination of values, the optimal load resistance value on the side of the ship to be charged is determined.

[0134] The aforementioned transmission distance refers to the distance between the center of the transmitting coil and the center of the receiving coil. This distance can be achieved by adjusting the position of either the transmitting or receiving coil individually, or by adjusting the distance between their centers simultaneously. Adjusting the transmission distance will affect the mutual inductance coefficient, thereby optimizing transmission efficiency. It is sufficient that the installation and position control of the transmitting or receiving coils can support the corresponding adjustment requirements.

[0135] In a resonant coupling system, increased coupling strength between the transmitting and receiving coils can lead to multiple resonant frequencies. As the distance between the transmitting and receiving coils increases (coupling strength increases), the received power on the load side no longer appears at the natural resonant frequency. By changing the coil offset angle to alter the rotation angle between the two coils, the system can be made to exit the frequency splitting region. Therefore, this embodiment further determines the optimized offset angle of the transmitting and / or receiving coils based on the resonant frequencies in the optimal combination of values.

[0136] Through the above-described process, this embodiment can automatically adjust the relevant parameters of the wireless charging system based on the relevant parameter data of the transmitting and receiving resonators under the real-time shore power ship position, thereby improving the power transmission efficiency.

[0137] Example 2

[0138] Based on the same inventive concept as Embodiment 1, this embodiment introduces a shore power ship wireless charging optimization device, which includes:

[0139] The optimization calculation module is configured to perform optimization calculations based on the acquired wireless charging device parameter data and the relative position data of the receiving coil and the transmitting coil, using a pre-determined mathematical model of the wireless charging system and a particle swarm optimization algorithm. The calculations take the transmission distance, resonant frequency, and load resistance as the parameter variables to be optimized in the particles, and the system transmission efficiency as the fitness of the individual particles, to obtain the optimal combination of transmission distance, resonant frequency, and load resistance that maximizes the system transmission efficiency.

[0140] The charging system adjustment module is configured to determine the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitor of the transmitting resonator and receiving resonator, and the optimal load resistance value on the side of the ship to be charged, based on the transmission distance, resonant frequency, and load resistance value in the optimal combination of values.

[0141] The specific implementation of the above functional modules is described in the corresponding content of Embodiment 1, and will not be repeated here. The following points are particularly noteworthy:

[0142] The optimization calculation module described in this embodiment determines the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitors of the transmitting and receiving resonators, and the optimal load resistance value on the side of the ship to be charged, based on the transmission distance, resonant frequency, and load in the optimal combination of values. Specifically, this includes:

[0143] Based on the transmission distance in the optimal combination of values, determine the position adjustment amount of the center of the transmitting coil and / or the centerline of the receiving coil in the direction of transmission distance;

[0144] Based on the resonant frequency in the optimal combination of values, determine the optimal tuning capacitors for the transmitting and receiving resonators, as well as the optimal offset angles for the transmitting and / or receiving coils;

[0145] Based on the load resistance values ​​in the optimal combination of values, the optimal load resistance value on the side of the ship to be charged is determined.

[0146] Example 3

[0147] This embodiment describes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the shore power ship wireless charging optimization method as described in Embodiment 1.

[0148] Example 4

[0149] Based on Embodiment 1, this embodiment introduces a shore power ship wireless charging system, which includes a wireless charging device, an optimization control device located on the shore power side, and a charging control device located on the ship to be charged side. The wireless charging device includes a transmitting resonator and a receiving resonator respectively installed on the shore power side and the ship to be charged side. The transmitting resonator includes a transmitting end tuning capacitor and a transmitting coil, and the receiving resonator includes a receiving end tuning capacitor, a receiving coil, and a variable load resistor. The optimization control device is communicatively connected to the charging control device.

[0150] The optimization control device is configured to:

[0151] Acquire parameter data of the wireless charging device and the relative position data of the receiving coil and the transmitting coil;

[0152] Based on the acquired data and a predetermined mathematical model of the wireless charging system, the particle swarm optimization algorithm is used to optimize the transmission distance, resonant frequency, and load resistance as parameters to be optimized in the particles, and the system transmission efficiency as the fitness of individual particles. The optimal combination of transmission distance, resonant frequency, and load resistance that maximizes the system transmission efficiency is obtained.

[0153] Based on the transmission distance, resonant frequency, and load resistance value in the optimal combination of values, determine the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitor of the transmitting resonator and receiving resonator, and the optimized variable load resistance value on the side of the ship to be charged.

[0154] Based on the determined optimal position of the transmitting coil and the optimal tuning capacitor of the transmitting resonator, the position of the transmitting coil and the tuning capacitor of the transmitting resonator are adjusted accordingly.

[0155] In addition, the determined optimized position of the receiving coil, the optimized tuning capacitor of the receiving resonator, and the optimized variable load resistor value on the side of the ship to be charged are sent to the charging control device.

[0156] The charging control device is configured to: adjust the position of the receiving coil, the tuning capacitor of the receiving resonator, and the variable load resistor on the side of the ship to be charged according to the received optimized position of the receiving coil, the optimized tuning capacitor of the receiving resonator, and the optimized variable load resistor value on the side of the ship to be charged.

[0157] Furthermore, the optimization control device in this embodiment is also configured to: determine the optimized offset angle of the transmitting coil and / or the receiving coil based on the resonant frequency in the optimal value combination; control the transmitting coil to adjust the offset angle accordingly based on the determined optimized offset angle of the transmitting coil; and send the determined optimized offset angle of the receiving coil to the charging control device.

[0158] In order to support the position adjustment of the transmitting coil, in this embodiment, the shore power ship wireless charging system also includes a transmitting coil position adjustment mechanism located on the shore power side. The transmitting coil is movably mounted on the transmitting resonator, and the optimization control device adjusts the position and offset angle of the transmitting coil through the transmitting coil position adjustment mechanism.

[0159] In order to support the position adjustment of the receiving coil, the shore power ship wireless charging system also includes a receiving coil position adjustment mechanism located on the side of the ship to be charged. The receiving coil is movably mounted on the receiving resonator, and the charging control module adjusts the position and offset angle of the receiving coil through the receiving coil position adjustment mechanism.

[0160] Based on the above scheme, in order to realize automatic charging control of the wireless charging system, the shore power ship wireless charging system of this embodiment also includes a transmitting coil current sensor located on the shore power side.

[0161] refer to Figure 3 In actual shore power scenarios, when there are no ships in the berth, the charging coil and the receiving coil are not coupled, and the current in the charging coil is large, which will be detected at this time.

[0162] When a ship needs to charge, the receiving coil couples with the transmitting coil, and the current in the charging coil decreases, at which point a small current will be detected. When the ship is fully charged, the circuit protection device in the receiving coil will disconnect, making the receiving coil open-circuited, and the current in the charging coil will increase, at which point a larger current will be detected. When the ship leaves the dock, the receiving coil leaves, the current in the charging coil increases, at which point a larger current will be detected.

[0163] Therefore, in this embodiment, the optimization control device is configured to: acquire the transmitter coil current data collected by the transmitter coil current sensor, and, based on the transmitter coil current data, turn the power output of the transmitter resonator on or off; specifically including:

[0164] If the current in the transmitting coil is greater than or equal to the preset charging stop current threshold, the power output of the transmitting resonator will be turned off.

[0165] If the current in the transmitting coil is greater than 0 and less than the preset charging current threshold, the power output of the transmitting resonator will be turned on.

[0166] In the above technical solution, the charging stop current threshold can be determined based on the transmitting coil current when the ship is fully charged, and the charging current threshold can be determined based on the transmitting coil current when the transmitting coil and receiving coil are coupled but not charging. Thus, automatic control of the power transmission function of the wireless charging device can be achieved on the shore power side based on the magnitude of the transmitting coil current.

[0167] In summary, the present invention can automatically optimize and adjust parameters such as coil position, offset angle, tuning capacitor, and load resistance in the shore-to-ship wireless charging system to adapt to situations where there are deviations in the ship's positioning and fluctuations within a certain range during the charging process, thereby improving the efficiency of power transmission.

[0168] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0169] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0170] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0171] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0172] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An optimized method for shore power ship wireless charging, characterized in that, include: Based on the obtained wireless charging device parameter data and the relative position data of the receiving coil and the transmitting coil, and based on the predetermined wireless charging system mathematical model, the particle swarm optimization algorithm is used to optimize the transmission distance, resonant frequency and load resistance as parameters to be optimized in the particles, and the system transmission efficiency as the fitness of the individual particles. The optimal combination of transmission distance, resonant frequency and load resistance values ​​that maximizes the system transmission efficiency is obtained. Based on the transmission distance, resonant frequency, and load resistance in the optimal combination of values, determine the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitor of the transmitting resonator and receiving resonator, and the optimal load resistance on the side of the ship to be charged. in: The process utilizes a particle swarm optimization algorithm, treating transmission distance, resonant frequency, and load resistance as parameters to be optimized within the particles, and system transmission efficiency as the fitness metric, to perform optimization calculations, including: Initialize the particles and their parameter variables; the particle is represented as... , This represents the transmission distance, which is the distance between the centers of the transmitting coil and the receiving coil. Indicates the actual resonant frequency. This is the load resistance value; Store the information of each particle before the update at its optimal position. Then, among all the particles, the optimal particle... The corresponding information is stored in the globally optimal location. middle; The particle's velocity and position are updated according to the preset velocity update formula and position update formula: Transmission efficiency is used as the fitness of an individual particle to evaluate particles in the swarm and to iteratively update the optimal position of an individual. and global optimal position The process continues until the preset iteration termination condition is met, at which point the particle information at the global optimal position is output, and the combination of parameter variables in the particle is taken as the optimal combination of transmission distance, resonant frequency and load resistance. The preset speed update formula is: The preset position update formula is: In the formula, and They represent particles respectively The The speed of the dimensional vector before and after the update. and They represent particles respectively The The positions of the dimensional vector before and after the update; Represents particles The best position I've ever been in. Indicates the best position the population has ever experienced; , Represents two acceleration constants; , Let represent two random functions, with values ​​ranging from [0,1]. Let represent the inertia factor, and we have: in, Indicates the initial inertia weight. This indicates the current maximum fitness function value; This represents the minimum value of the current fitness function; This represents the average of the fitness function for all particles. This represents the coefficient for the inertia factor. Indicates the number of particles.

2. The method according to claim 1, characterized in that, The parameters of the wireless charging device include: the self-inductance of the transmitting resonator. With tuning capacitor The self-inductance of the receiving resonator With tuning capacitor And the number of turns of the transmitting and receiving coils. and ; The relative position data includes the radius of the transmitting coil. Receiving coil radius And the Z-axis offset angle of the receiving coil, determined according to the preset coordinate system. X-axis offset distance of the receiving coil center Z-axis offset distance of the receiving coil plane The vertical distance between the centers of the two coils ; The preset coordinate system uses the center of the transmitting coil as the origin and the plane where the transmitting coil is located as the XOY plane. In the unoffset state, the transmitting coil and the receiving coil are parallel to each other, and the Z-axis projection of the receiving coil coincides with that of the transmitting coil.

3. The method according to claim 2, characterized in that, The predetermined mathematical model of the wireless charging system includes: The circuit equation for a wireless charging system is expressed as follows: in, The excitation voltage; and These are the currents in the transmitting resonator and receiving resonator circuits, respectively. and These are the internal resistances of the transmitting resonator and the receiving resonator, respectively. The internal resistance of the power supply; This is the load resistance value; This is the resonant frequency of the transmitting resonator and the receiving resonator; The mutual inductance between the transmitting resonator and the receiving resonator; represents an imaginary number; The resonant frequencies of the transmitting and receiving resonators are expressed as: The mutual inductance between the transmitting and receiving resonators when the coil is not offset is expressed as: In the formula, This represents the transmission distance, which is the distance between the center of the transmitting coil and the center of the receiving coil. The coefficient is constant. The mutual inductance between the transmitting and receiving resonators under coil offset conditions is expressed as: In the formula, Indicates the radius of the transmitting coil The angle between the coordinate system and the X-axis in the preset coordinate system; and These represent the radius of the transmitting coil. and receiving coil radius Vectors in the preset coordinate system; Transmission efficiency is expressed as: In the formula, For input power, For output power, Indicates the actual resonant frequency. This indicates actual mutual inductance.

4. The method according to any one of claims 1 to 3, characterized in that, When performing optimization calculations using the particle swarm optimization algorithm, the constraints considered include: the range of position variation of the transmitting coil, the range of tuning capacitance of the transmitting resonator and the receiving resonator, and the range of preset load resistance values.

5. The method according to any one of claims 1 to 3, characterized in that, The process of determining the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitors of the transmitting and receiving resonators, and the optimal load resistance on the ship side to be charged, based on the transmission distance, resonant frequency, and load in the optimal combination of values, includes: Based on the transmission distance in the optimal combination of values, determine the position adjustment amount of the center of the transmitting coil and / or the centerline of the receiving coil in the direction of transmission distance; Based on the resonant frequency in the optimal combination of values, determine the optimal tuning capacitors for the transmitting and receiving resonators; Based on the load resistance values ​​in the optimal combination of values, the optimal load resistance value on the side of the ship to be charged is determined.

6. The method according to claim 5, characterized in that, The adjustment of the position of the transmitting coil, the tuning capacitors of the transmitting and receiving resonators, and the load resistance on the ship side to be charged, based on the optimal combination of transmission distance, resonant frequency, and load resistance, also includes: Based on the resonant frequency in the optimal combination of values, determine the optimal offset angle of the transmitting coil and / or receiving coil.

7. A shore power ship wireless charging optimization device employing any one of the shore power ship wireless charging optimization methods of claims 1-6, characterized in that, include: The optimization calculation module is configured to perform optimization calculations based on the acquired wireless charging device parameter data and the relative position data of the receiving coil and the transmitting coil, using a pre-determined mathematical model of the wireless charging system and a particle swarm optimization algorithm. The calculations take the transmission distance, resonant frequency, and load resistance as the parameter variables to be optimized in the particles, and the system transmission efficiency as the fitness of the individual particles, to obtain the optimal combination of transmission distance, resonant frequency, and load resistance that maximizes the system transmission efficiency. The charging system adjustment module is configured to determine the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitor of the transmitting resonator and receiving resonator, and the optimal load resistance value on the side of the ship to be charged, based on the transmission distance, resonant frequency, and load resistance value in the optimal combination of values.

8. The shore power ship wireless charging optimization device according to claim 7, characterized in that, The charging system adjustment module is specifically used for: Based on the transmission distance in the optimal combination of values, determine the position adjustment amount of the center of the transmitting coil and / or the centerline of the receiving coil in the direction of transmission distance; Based on the resonant frequency in the optimal combination of values, determine the optimal tuning capacitors for the transmitting and receiving resonators, as well as the optimal offset angles for the transmitting and / or receiving coils; Based on the load resistance values ​​in the optimal combination of values, the optimal load resistance value on the side of the ship to be charged is determined.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the shore power ship wireless charging optimization method as described in any one of claims 1-6.

10. A shore power ship wireless charging system employing the shore power ship wireless charging optimization method according to any one of claims 1-6, characterized in that, The system includes a wireless charging device, an optimization control device located on the shore power side, and a charging control device located on the side of the vessel to be charged. The wireless charging device includes a transmitting resonator and a receiving resonator respectively installed on the shore power side and the side of the vessel to be charged. The transmitting resonator includes a transmitting tuning capacitor and a transmitting coil, and the receiving resonator includes a receiving tuning capacitor, a receiving coil, and a variable load resistor. The optimization control device is communicatively connected to the charging control device. The optimization control device is configured to: Based on the obtained wireless charging device parameter data and the relative position data of the receiving coil and the transmitting coil, and based on the predetermined wireless charging system mathematical model, the particle swarm optimization algorithm is used to optimize the transmission distance, resonant frequency and load resistance as parameters to be optimized in the particles, and the system transmission efficiency as the fitness of the individual particles. The optimal combination of transmission distance, resonant frequency and load resistance values ​​that maximizes the system transmission efficiency is obtained. Based on the transmission distance, resonant frequency, and load resistance value in the optimal combination of values, determine the optimal position of the transmitting coil and / or receiving coil, the optimal tuning capacitor of the transmitting resonator and receiving resonator, and the optimized variable load resistance value on the side of the ship to be charged. Based on the determined optimal position of the transmitting coil and the optimal tuning capacitor of the transmitting resonator, the position of the transmitting coil and the tuning capacitor of the transmitting resonator are adjusted accordingly. In addition, the determined optimized position of the receiving coil, the optimized tuning capacitor of the receiving resonator, and the optimized variable load resistor value on the side of the ship to be charged are sent to the charging control device. The charging control device is configured to: adjust the position of the receiving coil, the tuning capacitor of the receiving resonator, and the variable load resistor on the side of the ship to be charged according to the received optimized position of the receiving coil, the optimized tuning capacitor of the receiving resonator, and the optimized variable load resistor value on the side of the ship to be charged.

11. The shore power ship wireless charging system according to claim 10, characterized in that, The optimization control device is further configured to: determine the optimized offset angle of the transmitting coil and / or receiving coil based on the resonant frequency in the optimal combination of values; Based on the determined optimal offset angle of the transmitting coil, the offset angle of the transmitting coil is adjusted accordingly. In addition, the determined optimized offset angle of the receiving coil is sent to the charging control device.

12. The shore power ship wireless charging system according to claim 11, characterized in that, The shore power ship wireless charging system also includes a transmitting coil position adjustment mechanism located on the shore power side. The transmitting coil is movably mounted on the transmitting resonator. The optimization control device adjusts the position and offset angle of the transmitting coil through the transmitting coil position adjustment mechanism.

13. The shore power ship wireless charging system according to claim 11, characterized in that, The shore power ship wireless charging system also includes a receiving coil position adjustment mechanism located on the side of the ship to be charged. The receiving coil is movably mounted on the receiving resonator, and the charging control device adjusts the position and offset angle of the receiving coil through the receiving coil position adjustment mechanism.

14. The shore power ship wireless charging system according to claim 10, characterized in that, The shore power ship wireless charging system also includes a transmitting coil current sensor located on the shore power side; The optimization control device is configured to: acquire the transmitting coil current data collected by the transmitting coil current sensor, and turn on or off the power output of the transmitting resonator according to the transmitting coil current data; The step of turning the power output of the transmitting resonator on or off based on the transmitting coil current data includes: If the current in the transmitting coil is greater than or equal to the preset charging stop current threshold, the power output of the transmitting resonator will be turned off. If the current in the transmitting coil is greater than 0 and less than the preset charging current threshold, the power output of the transmitting resonator will be turned on.

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